Title: | An autotuning procedure for motion control of oscillatory mechatronic systems |
Authors: | Giacomelli, Marco Colombo, Davide Finzi, Giovanna Šetka, Vlastimil Simoni, Luca Visioli, Antonio |
Citation: | GIACOMELLI, M., COLOMBO, D., FINZI, G., ŠETKA, V., SIMONI, L., VISIOLI, A. An autotuning procedure for motion control of oscillatory mechatronic systems. In Proceedings 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA). Piscataway, NY: IEEE Inc., 2019. s. 829-835. ISBN 978-1-72810-303-7 , ISSN 1946-0740. |
Issue Date: | 2019 |
Publisher: | IEEE Inc. Proceedings |
Document type: | konferenční příspěvek conferenceObject |
URI: | 2-s2.0-85074197560 http://hdl.handle.net/11025/36673 |
ISBN: | 978-1-72810-303-7 |
ISSN: | 1946-0740 |
Keywords in different language: | Autotuning;mechatronic systems;PID controllers;oscillations |
Abstract: | In this paper an automatic tuning procedure for a cascade position control architecture of general mechatronic systems is presented. The proposed procedure firstly estimates the transfer function of the system by analysing its open-loop response to a signal specifically designed in order to satisfy the system position, velocity and torque constraints. Then, if present, oscillatory behaviours are detected by finding the (anti)resonances of the frequency response. Parametric tuning rules are eventually defined for the PID controllers and for the biquadratic filters. Results obtained by implementing the procedure on a Hardware In the Loop setup demonstrate the effectiveness of the method. |
Rights: | Plný text není přístupný. © IEEE |
Appears in Collections: | Konferenční příspěvky / Conference Papers (KKY) OBD |
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